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Floodcasting, a data dissemination service supporting real-time actuation and control 13

Floodcasting, a data dissemination service supporting real-t...

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Proceeding of the 11th annual international conference on Mobile systems, applications, and services

作者： Ye-sheng Kuo Pat Pannuto Prabal Dutta University of Michigan Ann Arbor MI USA

ISBN: (纸本)9781450316729

Packet collisions have gone from something to be avoided to something that can be embraced. We build upon recent results that employ intentional packet collisions for synchronized flooding to show how multi-hop wireless networks can support real-time actuation and control. First, we show how a network of nodes can synchronize their LED transmissions to extend the range of a visual light communication (VLC) system. Second, we show how buffer-free, streaming audio is possible over a multi-hop wireless mesh network.

关键词： real-time wireless mac protocol ieee 802.15.4 software-defined radio constructive interference

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Comprehensive Framework for Facilitating the Deployment of Distributed On-Premise Analytics applications in Resource-Constraint Environments

Comprehensive Framework for Facilitating the Deployment of D...

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ieee international conference on Automation Science and Engineering (CASE)

作者： Nicolai Schoch Pascal Becker Virendra Ashiwal Andrew Habib ABB Corporate Research Center Germany

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Data Analytics (DA) and Machine Learning (ML) algorithms today are inside many applications and systems. they provide state-of-the-art anomaly detection, pattern recognition, health monitoring, predictive maintenance, or help to optimize and calibrate parameter combinations. However, they usually require strong compute resources. It is therefore a challenge to deploy the corresponding algorithms on edge devices or in embedded systems, such as on cloud-decoupled drives and drive systems, as these usually have strict resource constraints. In this work, we look at the deployment of DA/ML algorithms on combinations of resource-constraint edge and device environments. We present our framework for the structured and guided definition, setup, distribution, and deployment of such DA/ML algorithms. A guided workflow leads a user through algorithm specification and configuration. While doing so, it extracts information, which is necessary for the distribution and deployment of the DA/ML algorithm to a suitable device-edge combination. With this solution, a DA/ML algorithm can be executed for sensor data processing and, in the ML context, for inference, on device-edge combinations without permanent cloud connection, e.g., on a drive/gateway combination on a cruise ship, so that it can be used for real-time anomaly detection or pattern analysis.

关键词： Cloud computing Machine learning algorithms Prediction algorithms Inference algorithms real-time systems Pattern analysis Marine vehicles Anomaly detection Monitoring Predictive maintenance

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VR Dodge-ball: Application of real-time Gesture Detection from Wearables to ExerGaming

VR Dodge-ball: Application of Real-time Gesture Detection fr...

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international conference on Cognitive Infocommunications (CogInfoCom)

作者： Shun Ishii Mika Luimula Anna Yokokubo Guillaume Lopez Aoyama Gakuin University 5-10-1 Fuchinobe Chuo-ku Sagamihara-shi Kanagawa Japan Turku University of Applied Sciences Joukahaisenkatu 3C Turku Finland

ISBN: (数字)9781728182131

ISBN: (纸本)9781728182148

Wearable technologies are applied to various areas nowadays, including health care and physical training. In previous work, we developed ExerSense, an algorithm to segment, classify, and count different predefined motions in real-time using correlation of acceleration. Using ExerSense, we developed a Virtual reality (VR) Dodge-ball game. A watch-like wearable device is mounted to the right wrist and connected wireless to a head-mounted display (HMD). ExerSense enables to recognize real-time ball throwing gesture. Dodging opponent's ball in 3-Dimensional virtual space is detected using the sensors embedded in the HMD. We found that wearable devices have an advantage for virtual exergames against the camera-based approaches: there is no space and place limitation. Additionally, the study shows that exergames could be implemented with only general usage devices.

关键词： Wrist Wireless communication Wireless sensor networks Wearable computers Resists Virtual reality real-time systems

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SESAM: An MPSoC Simulation Environment for Dynamic Application Processing

SESAM: An MPSoC Simulation Environment for Dynamic Applicati...

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international conference on Computer and Information Technology (CIT)

作者： N. Ventroux A. Guerre T. Sassolas L. Moutaoukil G. Blanc C. Bechara R. David Embedded Computing Laboratory Gif-sur-Yvette France

Future systems will have to support multiple and concurrent dynamic compute-intensive applications, while respecting real-time and energy consumption constraints. With the increase in the design complexity of MPSoC architectures that must support these constraints, flexible and accurate simulators become a necessity for exploring the vast design space solutions. In this paper, we present an asymmetric MPSoC simulator environment, named SESAM. this tool can be used for the architecture exploration and optimization, and the design of a complete MPSoC solution for dynamic application processing. Its performances and capabilities are demonstrated through a complete MPSoC platform and an implementation of the component labeling algorithm.

关键词： Computer architecture Computational modeling Program processors Dynamic scheduling Processor scheduling Hardware Resource management

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Implementation of a general real-time visual anomaly detection system via soft computing

Implementation of a general real-time visual anomaly detecti...

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ieee international conference on Fuzzy systems (FUZZ-ieee)

作者： J.A. Dominguez S. Klinko B. Ferrell Kennedy Space Center ASRC Aerospace Corporation FL USA NASA. ASRC Aerospace Corporation USA NASA

An intelligent visual system prototype was built to detect anomalies or defects in real time under normal lighting operating conditions. the application is basically a learning machine that integrates fuzzy logic (FL), artificial neural network (ANN), and genetic algorithm (GA) schemes to process the image, run the learning process, and finally detect the anomalies or defects. the system acquires the image, performs segmentation to separate the object being tested from the background, preprocesses the image using fuzzy reasoning, performs the final segmentation using fuzzy reasoning techniques to retrieve regions with potential anomalies or defects, and finally retrieves them using a learning model built via ANN and GA techniques. FL provides a powerful framework for knowledge representation and overcomes uncertainty and vagueness typically found in image analysis. ANN provides learning capabilities, and GA leads to robust learning results. An application prototype currently runs on a regular PC under Windows NT, and preliminary work has been performed to build an embedded version with multiple image processors. the application prototype is being tested at the Kennedy Space Center (KSC), Florida, to visually detect anomalies along slide basket cables utilized by the astronauts to evacuate the NASA Shuttle launch pad in an emergency. the potential applications of this anomaly detection system in an open environment are quite wide. Another current, potentially viable application at NASA is in detecting anomalies of the NASA Space Shuttle Orbiter's radiator panels.

关键词： real time systems Artificial neural networks Prototypes Fuzzy logic NASA Machine learning Performance evaluation Image segmentation Fuzzy reasoning Image retrieval

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Improvement of the Proprioceptive-Sensors based EKF and IMM Localization

Improvement of the Proprioceptive-Sensors based EKF and IMM ...

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international conference on Intelligent Transportation

作者： Alexandre Ndjeng Ndjeng Dominique Gruyer Sebastien Glaser INRETS/LCPC Vehicle-Infrastructures-Driver Interactions Research Unit Versailles France

this paper presents the localization problem of outdoor vehicles using Interacting Multiple Model (IMM) and Extended Kalman Filter (EKF), in their predictive step without exteroceptive sensors data. Usually, hybridization operates between exteroceptive sensors (e.g. GNSS) and proprioceptive sensors (e.g. Odometer, Inertial Measurement Unit etc.) through a merging algorithm. Common experiments use the GPS receiver PPS time for stamping the odometric, gyrometric and IMU measurements, after what all these sensors are in the same UTC reference time. Now it is well known that the low cost GNSS devices have a very low frequency compared to proprioceptive sensors, combined to a low accuracy. therefore in order to assess the vehicle positioning at higher frequency for safety applications, the sensors measurements are generally synchronized before being exploited in the merging algorithm. In our approach, the sensors remain in their original frequencies. the objective is to design a reliable and robust system that exploits asynchronous data. In order to reach this goal it is important to guarantee accuracy and integrity of filters even during the predictive steps, when exteroceptive GNSS data are not available: that is proprioceptive-sensors based positioning. We introduce in this paper, a study on the influence of the road bank angle assessment on the output. this parameter is used to correct the gyrometric and inertial unit measurements leading to an improvement of both IMM and EKF predictive output positioning. Tests performed with real data proved the suitability of introducing this parameter in the system.

关键词： Satellite navigation systems Frequency Measurement units Merging Vehicle safety Position measurement Vehicles Predictive models Global Positioning System time measurement

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real-time smart stereo camera based on FPGA-SoC

Real-time smart stereo camera based on FPGA-SoC

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ieee-RAS international conference on Humanoid Robots

作者： Soenke Michalik Soeren Michalik Jamin Naghmouchi Mladen Berekovic TU Braunschweig Braunschweig Germany

ISBN: (纸本)9781538646793

Stereo image processing is one of the most demanding tasks in the field of 3D computer vision and robot vision requiring high-performance computing capabilities within embedded systems. real-time constraints for autonomous vehicles such as humanoid robots, lead to hardware acceleration approaches for high resolution stereo imaging in human-like vision systems, where commonly FPGA device are employed to handle very high sensor data rates. this work presents a realtime smart stereo camera system implementation resembling the full stereo processing pipeline in a single FPGA device. We introduce the novel memory optimized stereo processing algorithm ”Sparse Retina Census Correlation” (SRCC) that embodies a combination of two well established window based stereo matching approaches. We have leveraged a Sum of Absolute Difference (SAD) of Sobel-filtered images and a Sum of Hamming Distance (SHD) using a modified Retina based Census Transform for increased robustness to lighting variations and for high accuracy. A color rectification module has been implemented to cope with the high frame rate of the stereo pipelining calculating image transformations and rectified pixel coordinates in real-time using parameters for camera intrinsic, image rotation, image distortion and image projection. In addition multiple post-processing algorithms like texture filtering, uniqueness filtering, speckle removal and disparity to depth conversion have been implemented to further enhance the output results. the presented smart camera solution has demonstrated real-time stereo processing of 1280×720 pixel depth images with 256 disparities on a Zynq XC7Z030 FPGA device at 60fps. Due to the universal USB3.0 UVC interface and the onboard depth calculation it is a replacement for RGBD 3D-Sensors with improved image quality and outdoor performance. the camera can easily be used in conjunction with ROS-enabled robots and in automotive or industrial applications.

关键词： Field programmable gate arrays Cameras Robot sensing systems Correlation Transforms real-time systems

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Robust Motion Control for Aerial Robotic systems in Monitoring applications

Robust Motion Control for Aerial Robotic Systems in Monitori...

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ieee international conference on Smart Energy Grid Engineering (SEGE)

作者： Hugo Yañez-Badillo Francisco Beltran-Carbajal Irvin Lopez-Garcia Daniel Galvan-Perez Alejandro Alvarez-Diaz Jose Luis Hernandez-Avila Ivan Rivas-Cambero Departamento de Investigación TecNM: Tecnológico de Estudios Superiores de Tianguistenco Tianguistenco Estado de México Mexico Departamento de Energía Universidad Autónoma Metropolitana Unidad Azcapotzalco Mexico City Mexico Departamento de Posgrado Universidad Politécnica de Tulancingo Tulancingo de Bravo Hidalgo Mexico División de Ingeniería Mecatrónica TecNM: Tecnológico de Estudios Superiores de Tianguistenco Tianguistenco Estado de México Mexico

Mobile robots usage have allowed a properly performance of complex tasks in various fields without human intervention. Unmanned aerial robots have been successfully used in monitoring applications within indoor and outdoor scenarios. the main contribution of this research is to introduce a novel robust neural sliding-mode control for a four-rotor aerial robot in monitoring tasks. To verify the effectiveness of the proposed motion control scheme, it is considered a simulation scenario where the vehicle is subjected to unknown disturbances while the robot is flying towards different operation points, as required in real-time monitoring applications. Bézier polynomials are suitably integrated in the motion control scheme to smooth the system motion. Additional case study is also included where B-spline artificial neural networks are efficiently introduced for improving the system performance while maintaining its stability despite random undesired abrupt position changes due to the induced forces by wind. Finally, to highlight the effectiveness of the introduced controller, the vehicle is simulated in a virtual scenario where a rapidly exploring random tree (RRT) algorithm is implemented for determining the best path in a constrained space. this preliminary results effectively promote the development of cyber-physical systems for monitoring application management, as required in the electric power systems.

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APECS code synthesis: Extending ocarina for multi-threaded code synthesis from AADL models for Safety Critical applications

APECS code synthesis: Extending ocarina for multi-threaded c...

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ieee international conference on Networking, Sensing and Control

作者： Matthew Anderson Sandeep K. Shukla Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA

For Safety Critical CPS applications, Architecture Analysis and Design Language (AADL) can provide a framework for formally modeling end-to-end Cyber Physical systems (CPS). Such a model includes hardware platform model, software architecture model, the real-time bounds on software and hardware components. An AADL model of the system allows early formal analysis of real-time schedulability, end-to-end performance, power, memory requirements and correctness. Multiple tool support for AADL modeling and analysis exists, including software code generator, which glues together software components declared in the software architecture model. Ocarina is one such tool for software generation but it requires that the modeler provides the subprogram code in C/C++ or Ada. For correct-by-construction code synthesis, it is ideal to eliminate manually written code, and instead of using Ocarina as a glue code generator, using it for complete code synthesis from formal models. Support for Esterel and Lustre based specification of subprograms already have been attempted, but they usually specify specific subprogram elements, and the specific code generators are invoked to synthesis C/C++ code and then Ocarina glues them together based on the architectural constraints specified in the AADL model. this means that in a multi-threaded or multi-process software architecture, we still have to maneuver to get correct synchronization code. Moreover, if the granularity of code synthesis is at the function or subprogram level, we cannot gain much towards the goal of correct-by-construction synthesis and we believe that taking advantage of polychronous modeling and code synthesis would be ideal to achieve that goal. In this work, we show how to extend the Ocarina code generator to work with our Polychronous modeling and code synthesis solution to obtain multi-threaded code, improving the code-synthesis granularity from subprograms to processes while guaranteeing the implementation correctness.

关键词： Analytical models Process control Manuals Generators Synchronization Standards Context

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Impact of recent compression/decompression technologies in video distribution systems

Impact of recent compression/decompression technologies in v...

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conference on Digital Avionics systems (DASC)

作者： M.A. Helgeson T.M. Tanji G.A. Kilgore Systems and Research Center Honeywell Inc. Bloomington MN USA

the authors present the fundamental principles, techniques, and algorithms for compression/decompression currently available in the marketplace (JPEG/CCITT/MPEG) and a potentially superior method for cockpit video distribution applications under investigation. It is noted that JPEG (Joint Photographic Experts Group), CCITT (international Consultative Committee for Telephone and Telegraph), or MPEG (Motion Picture Experts Group) alone will not solve the myriad of issues that must be addressed before digital imagery will be fully integrated within next generation cockpit high definition video distribution systems. After careful consideration of each standard's capabilities and original objectives, it is found that each group provides extremely relevant techniques and foundation to their accomplishments, but that none is necessarily ideal for avionic applications. JPEG imposes compression ratio limitations to maintain quality levels. CCITT limits image resolution, allows a 150-ms latency, and is geared toward limited motion applications. In MPEG's attempt to overcome the CCITT deficiencies, additional hardware complexity is required. the MPEG standard supports extended motion search and is optimized for motion-intensive video applications at the expense of the high compression ratios achievable by the CCITT approach. the most complex implementation issue that exists is being able to achieve the high pixel rates required at moderate complexity, weight, size, and power. While most silicon vendors have been struggling with the lower resolution H.261 and MPEG real-time implementation, the wavelet transform may allow a very acceptable low complexity solution.< >

关键词： Video compression Transform coding Image coding Telephony Telegraphy Motion pictures Digital images High definition video Aerospace electronics Image resolution

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